ASM330LHH和gps 做惯导

你好！请教一个问题，就是比如在隧道下针对车辆做惯导，基于ASM330LHH和gps的位置和速度航向（不要融合滤波）可以吗？有没有比较简单一些的算法呢？ 目前就知道你们的开源惯导算法，个人数学不好，有没有简单一些的算法？
还有就是你们的算法好不好移植到103平台

1. 隧道内怎么会有GPS测量呢？
2. 如果有IMU和GPS，为什么不做融合？这应该是第一选择。
3. 如果在隧道内，更多的做法是IMU+里程计。如果只用IMU，算法会较复杂，且效果没有IMU+里程计稳定可靠。
4. 据我了解，在组合导航领域，简单又好用的算法是不存在的。

@Dong-xiaoguang 谢谢，就是3这种情况，那你们的ins 在隧道（没有gps的情况下）是怎么做的？

没有里程计的话，就把车体运动约束加进来：即车体本体坐标系的侧向和纵向的速度为0；
有里程计的话，结合上述的约束，车体前向速度来自于里程计。

@Dong-xiaoguang 嗯 好的，有没有IMU+里程计的资料可以共享呢

这个资料很多啊，比方说：Shin - 2001 - Accuarcy improvement of low cost INSGPS for land .pdf

@Dong-xiaoguang thanks very much!

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